/**
  ******************************************************************************
  * @file    GPIO/GPIO_IOToggle/stm32f4xx_it.c 
  * @author  MCD Application Team
  * @version V1.4.0
  * @date    04-August-2014
  * @brief   Main Interrupt Service Routines.
  *          This file provides template for all exceptions handler and 
  *          peripherals interrupt service routine.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; COPYRIGHT 2013 STMicroelectronics</center></h2>
  *
  * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
  * You may not use this file except in compliance with the License.
  * You may obtain a copy of the License at:
  *
  *        http://www.st.com/software_license_agreement_liberty_v2
  *
  * Unless required by applicable law or agreed to in writing, software 
  * distributed under the License is distributed on an "AS IS" BASIS, 
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_it.h"

/** @addtogroup STM32F4xx_StdPeriph_Examples
  * @{
  */

/** @addtogroup GPIO_IOToggle
  * @{
  */

/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/

/******************************************************************************/
/*            Cortex-M4 Processor Exceptions Handlers                         */
/******************************************************************************/

/**
  * @brief   This function handles NMI exception.
  * @param  None
  * @retval None
  */
void NMI_Handler(void)
{
}

/**
  * @brief  This function handles Hard Fault exception.
  * @param  None
  * @retval None
  */
void HardFault_Handler(void)
{
  /* Go to infinite loop when Hard Fault exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles Memory Manage exception.
  * @param  None
  * @retval None
  */
void MemManage_Handler(void)
{
  /* Go to infinite loop when Memory Manage exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles Bus Fault exception.
  * @param  None
  * @retval None
  */
void BusFault_Handler(void)
{
  /* Go to infinite loop when Bus Fault exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles Usage Fault exception.
  * @param  None
  * @retval None
  */
void UsageFault_Handler(void)
{
  /* Go to infinite loop when Usage Fault exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles SVCall exception.
  * @param  None
  * @retval None
  */
//void SVC_Handler(void)
//{
//}

/**
  * @brief  This function handles Debug Monitor exception.
  * @param  None
  * @retval None
  */
void DebugMon_Handler(void)
{
}

/**
  * @brief  This function handles PendSVC exception.
  * @param  None
  * @retval None
  */
//void PendSV_Handler(void)
//{
//}

/**
  * @brief  This function handles SysTick Handler.
  * @param  None
  * @retval None
  */
//void SysTick_Handler(void)
//{
//}

/******************************************************************************/
/*                 STM32F4xx Peripherals Interrupt Handlers                   */
/*  Add here the Interrupt Handler for the used peripheral(s) (PPP), for the  */
/*  available peripheral interrupt handler's name please refer to the startup */
/*  file (startup_stm32f40xx.s/startup_stm32f427x.s/startup_stm32f429x.s).    */
/******************************************************************************/

/**
  * @brief  This function handles PPP interrupt request.
  * @param  None
  * @retval None
  */
/*void PPP_IRQHandler(void)
{
}*/
void EXTI9_5_IRQHandler(void)
{
	if(EXTI_GetITStatus(EXTI_Line9))
	{
		EXTI_ClearITPendingBit(EXTI_Line9);
		GPIO_ToggleBits(GPIOA, GPIO_Pin_15);//翻转指定 GPIO 引脚的电平状态---→读取指定引脚上当前的电平状态，
	}                                         //然后将其反转（高电平变低电平，低电平变高电平）
}
/*
uint8_t arr[64];      
uint16_t i = 0;     
uint8_t c = 0;   
uint8_t data;
void USART6_IRQHandler(void)
{
	if(USART_GetITStatus(USART6, USART_FLAG_RXNE))
	{
		USART_ClearITPendingBit(USART6, USART_IT_RXNE);
		USART_SendData(USART6, USART_ReceiveData(USART6));
		data = USART_ReceiveData(USART1);         
        USART_SendData(USART6, data);    
        if (data != '\r' && data != '\n') 
        {
            arr[i++] = data;
        } 
        else if (data == '\n') 
        {
            arr[i] = '\0'; // 添加字符串结束符
            c = 1;
            i = 0;
        }
		
        if(USART_GetFlagStatus(USART6, USART_FLAG_IDLE))
        {
            USART_ClearITPendingBit(USART6, USART_IT_IDLE);
            USART_ReceiveData(USART6); 
            		                
        }
    }
}*/
/**
  * @}
  */ 
void TIM7_IRQHandler(void)
{
	
    if(TIM_GetITStatus(TIM7, TIM_IT_Update))
	{
		TIM_ClearITPendingBit(TIM7, TIM_IT_Update);
		GPIO_ToggleBits(GPIOC, GPIO_Pin_4);
        
	}
	
}
extern int walk_state; // 0:停止, 1:行走中
extern int walk_step;
void TIM3_IRQHandler(void)
{
	static int step_delay = 0;
    
    if(TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)
    {
        if(walk_state == 1) 
        {
            step_delay++;
            
            // 控制步骤执行的时间间隔
            if(step_delay >= 10)  // 根据定时器频率调整
            {
                step_delay = 0;
                
                switch(walk_step % 8)  // 循环执行行走步骤
                {
                    case 0:
                        TIM_SetCompare1(TIM3, 1000);
                        break;
                    case 1:
                        TIM_SetCompare3(TIM3, 2000);
                        break;
                    case 2:
                        TIM_SetCompare2(TIM3, 1000);
                        break;
                    case 3:
                        TIM_SetCompare4(TIM3, 2000);
                        break;
                    case 4:
                        TIM_SetCompare1(TIM3, 1500);
                        break;
                    case 5:
                        TIM_SetCompare3(TIM3, 1500);
                        break;
                    case 6:
                        TIM_SetCompare2(TIM3, 1500);
                        break;
                    case 7:
                        TIM_SetCompare4(TIM3, 1500);
                        break;
                }
                
                walk_step++;
            }
        }        
        TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
    }
}

extern void function(void);
void USART2_IRQHandler(void)
{
	if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET)
	{		         
        function();
        USART_ClearITPendingBit(USART2, USART_IT_RXNE);        
        USART_SendData(USART2, USART_ReceiveData(USART2));          
                       
    }              
    if(USART_GetFlagStatus(USART2, USART_FLAG_IDLE))
    {
        USART_ClearITPendingBit(USART2, USART_IT_IDLE);
        //USART_ClearFlag(USART2, USART_FLAG_IDLE); 
        USART_ReceiveData(USART2);                                 
    }    
    
}
#include <string.h>
#define ESP_BUFFER_SIZE  64    // 网络数据缓冲区大小
volatile char ESP_TIMEOUT;       
extern int net_transfer;    // 透传模式标志：0=AT指令模式，1=透传模式
volatile char esp_buffer[ESP_BUFFER_SIZE]; // 网络数据缓冲区
int esp_buf_len = 0; 
extern void process_network_command(char* cmd);
void USART3_IRQHandler(void)
{
	if (USART_GetITStatus(USART3, USART_IT_RXNE) != RESET)
    {
        char data = USART_ReceiveData(USART3);
        
        // 处理网络命令（以\r\n结尾）
        if (esp_buf_len < 127)
        {
            esp_buffer[esp_buf_len++] = data;
            esp_buffer[esp_buf_len] = '\0';
        }
                  
        USART_ClearITPendingBit(USART3, USART_IT_RXNE);
    }
	if(USART_GetFlagStatus(USART3, USART_FLAG_IDLE))
    {
        USART_ClearITPendingBit(USART3, USART_IT_IDLE);
        //USART_ClearFlag(USART2, USART_FLAG_IDLE); 
        USART_ReceiveData(USART3);                                 
    }    
   
}
/**
  * @}
  */ 


/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
